ES2249537T3 - AUTOMATED SYSTEM FOR THE INSPECTION OF PALLETS. - Google Patents

Abstract

Automated system for checking pallets (22) of the type comprising at least one input device (24) and at least one output device (31), provided with at least one automated station (20), in which then of a suitable programming, a series of steps are carried out to check the structural integrity of the pallets (22) in each type of pallet (22), and some operations for handling said pallets (22), said automated station (20) comprising ) at least one manipulator or robot (21) that performs said manipulation and checking operations on said pallets (22), characterized in that said manipulator has at least one pair of test pliers (40, 40A) comprising a frame ( 41) to which are fixed by at least two forks (42) and at least one tracer roller (48), said forks (42) being used to block and manipulate said pallets (22) and said rollers (48) being used for operations ofsurface check and to determine the level of each pallet (22) thanks to the action of at least one pneumatic cylinder (48D) in which a series of electronic limit switch detector devices (47) are arranged.

Description

Automated system for the inspection of pallets

The present invention relates to a system automatic to check the integrity of pallets.

According to UNI 5042: ISO 445, the term "pallet" refers to a horizontal platform characterized for a minimum height compatible with handling through internal transport trucks, called pallet truck and / or forklifts and other suitable handling equipment, used as a support to collect, store, handle and transport goods and loads. It can be built or provided of a superior structure.

Figure 1 illustrates a traditional system of pallet check. I usually understand a device input transport, indicated with numerical reference 11 in the Figure, to which the pallet to be checked arrives at the exit from a depalletizer device, a stacker 12 and an unstacker 13, arranged in series, passing slightly through the batteries of new filling and / or feeding pallets until reaching the palletizing device

Some types of pallets do not need to be checked and thus stacked by the stacker 12, with the stack formed removed from the unit.

In addition, the system comprises a device pallet incinerator 14, in which the current address of the Upper surface pallet tables are determined with the help of a photocell and thus, if needed, the pallet will inclines by the tilting device 14, so that it is oriented from appropriate form.

In series with the tilting device 14 is provides a device to check the upper surface, indicated with numerical reference 15, which consists of a row of tracer rollers, which check the surface of the pallet with the Tables parallel to the direction of advance of the same pallet, while that the 90º deviation block, indicated with the reference 16, change the direction of advance of the pallet (from the side mobile long front to mobile short front side); this operation is necessary for the type of pallet in which the address of the tables from the bottom surface of the pallet is orthogonal to the direction of the upper surface.

In addition, in series with block 16 it is provided a device for checking the bottom surface, which consists in a series of tracer rollers, which check one of the pallet surfaces; at the exit of the system, the broken pallets are diverted to a second stacker, indicated with the numerical reference 18, which forms a stack of them, which is then removed by the system.

Finally, the output device, indicated with numerical reference 19, it is used to transport pallets not defective to feed them to one or more lines of palletizing

However, systems of this type are very complex and bulky and require production costs and exploitation that would be desirable to reduce.

Another example of a system for checking pallets it is disclosed in the document EP-A-943 394 in which the pallets impaired are removed and later inspected for Determine the magnitude of the damage.

An objective of the present invention is provide an automated system to check pallets, which avoid the inconveniences described above, that is, provide a automated checking system that should allow the structural integrity check of pallets with high reliability

In particular, the present invention allows check the presence of broken or cracked boards, lack of tables, the presence of broken or cracked blocks, lack of blocks, the presence of broken or cracked transverse elements, the lack of transversal elements, the presence of joists broken or cracked laminates, lack of laminated joists, the presence of bodies or nails protruding from the boards and the integrity of the upper parts.

Another objective of the present invention is to indicate an automated system to check pallets, which should allow Check any type of pallets.

Another objective of the present invention is make an automated system to check pallets that also of the checking operations, should allow the realization of additional pallet handling operations in any combination of fixed surfaces and pallet stacks, to perform typical functions of stackers and stackers and eliminating the need to use transport devices and deviations from Connection.

Last but not least, another objective of the present invention is to provide a system automated to check pallets, which is not very bulky, is not substantially complex to perform and does not require the use of complex or especially expensive technologies, compared to prior art, by virtue of the advantages achieved.

These and other objectives are achieved with a automated system for checking pallets according to claim 1, to which reference will be made for brevity.

Preferably, compared to the systems already known, the installation of a robotic station that checks the structural integrity of the pallet In a single workstation.

With proper prior programming, the station You can check all types of pallets. Further, can perform manipulation operations without using devices Special transport and / or union connectors.

Other objectives and advantages of this invention will become more clearly apparent from the following description and of the attached drawings, which are provided by way of an explanatory and non-limiting example. In sayings drawings:

- Figure 1 is a plan and partial view schematic of a traditional system of checking pallets;

- Figure 2 is a plan and partial view schematic of an automated system to check pallets, according to the present invention;

- Figure 3 is a schematic plan view of a first embodiment of a device for checking pallets used in the system illustrated in Figure 2, according to the present invention;

- Figure 4 is a schematic plan view of a second embodiment of a device for checking pallets, used in the system illustrated in Figure 2, according to the present invention;

- Figure 5 is a schematic elevation view side of the checking device illustrated in Figure 4, in a first operational position;

- Figure 6 is a schematic elevation view side of the checking device illustrated in Figure 4, in a second operational position;

- Figure 7 is a schematic top view of pallets subjected to some stages of checking the tables, according to the present invention;

- Figure 9 is a side elevation view schematic of the pallet subject to a check stage, according to the present invention;

- Figures 8 and 10 are, respectively, a top view and a front view of the checking device of Figure 3 used in a first operative position in the pallet

- Figure 11 is a front view of the checking device of Figure 3 used in a second operating position on the pallet.

With special reference to Figure 2, which illustrates an automated system to check pallets according to the present invention, reference numeral 20 specifically indicates an automated station to check structural integrity of the pallets.

It is based on the work cycle of a manipulator or robot 21, which performs a series of operations on the pallet to check 22 arriving at control station 20 from a input transport device 24.

The optimal checking operation of each pallet 22 is carried out, according to the present invention, by carrying out a series of operations, which starts from a workstation planned in the inlet conduit 24, which may be terminated by a manipulator 21 in the predetermined zone, such as a station of work 20, in different positions, indicated with references numbers 26 to 31 in Figure 2, arranged in seats determined by station 20.

The performance or not of some operations of check performed by manipulator 21 at station 20 as well as its sequence, it depends on the type of pallet 22 subject to control and of the machines that precede and follow the checking station robotics 20.

However, in embodiments by way of example, but not limiting, of the invention, the duty cycle typical of the robot 21 consists of a series of the following operations, performed in a sequence: pallet lock, determination of the height of the pallet to be checked, determination of the orientation of the boards on the upper surface of the pallet, checking the integrity of one or both sides of the pallet, unlocking the pallet, tilting the pallet, collecting and pallet storage in a place that depends on the result of the inspection and control test.

A description is provided below. more detailed operations of a check sequence typical performed in positions 26 to 31, arranged around manipulator 21 and at a distance that allows intervention of the same in station 20; actually the manipulator 21 follows, cyclically, a work program default based on default variables.

In this case, the operation must give priority to processing of pallets 22 from the device input transport 24 and, secondly, to the power of the outbound transport device 31.

For this purpose, during the normal operating cycle, if a pallet 22 is present in the transport device of input 24 the manipulator 21 checks it and, if the test of Check is positive and the exit transport duct 31 is free, the same manipulator 21 deposits it in the device outbound transport 31.

Alternatively, the application program that manages the entire operating cycle can be varied by deactivating the output transport device 31, thus preventing it handler 21 deposit the pallet 22 in the transport device output 31.

If the input transport device 24 is coupled, the manipulator 21 checks the pallet 22 present there even when the output transport device 31 is coupled; in this case, the manipulator 21 deposits the pallet 22 in a stack of pallets that have passed the positive test check 27.

If the input transport device 24 it is free and the exit transport duct 31 is also free, the manipulator 21 picks up a pallet 22 from the pallet stack that have passed test 27 with positive results and deposits it in the exit transport duct 31; alternatively, if the battery of "good" pallets, indicated with numerical reference 27 in Figure 2 is empty, the manipulator 21 picks up a pallet 22 from stack 29 of new pallets, check it at position 30 and deposited in the transport device 31 at the exit from the control station 20.

During the operating cycle with non-empty pallets 22, the robot 21 collects pallets 22 from the inlet duct 24 and he deposits them at exit 27 of "good" pallets without check them out

If later it is found that the control pallet 22 is broken, robot 21 checks the height measurement stored from stack 28 of rejected pallets and, if the previous stack It is not full, pick up pallet 22 and deposit it in stack 28. When the batteries of suitable pallets 27 or of broken pallets 28 are full, the robot 21 informs the operator of its status and awaits its withdrawal.

When the stack of new pallets 29 is empty, the robot 21 informs the operator of its status and expects the battery to be reintegrated

In each grip sequence of each pallet 22, by means of manipulator 21, the previous manipulator 21 checks the status of the two electronic detector devices arranged in the tips of the grip forks; yes the series of the two Detected signals are set for a low logic level signal, robot 21 stops, moves out of the range of pallet 22 and indicates that the same pallet cannot be caught by the forks and then wait for its withdrawal by the operator. the same Operating principle is used when the forks are expanded, a movement intended to grab and manipulate pallets 22 if at least one of the detecting devices of Limit switch, which are responsible for detecting the fully expanded fork position, reports a high logical level; In this case, the pallet cannot be picked up.

In particular, the integrity check of the pallets 22 is carried out by the manipulator 21 by means of tweezers control, performed alternatively as indicated in Figure 3 or 4 to 6. In a first embodiment, by way of example but not limiting, the clamps - indicated with the reference number 40 in Figure 3- actually consists of a frame 41 to which they are fixed two clamps or forks 42 and two tracer rollers 48. The clamps 42 are used to handle pallets 22, are mobile and they have two possible operating positions: idle operation and expanding operation.

In the rest position, the fork 42 is horizontal and, since its thickness is equal to approximately 20 mm, can be easily inserted into the opening 49 comprised between upper 44 and lower 45 surfaces of pallet 22 according to It is illustrated in detail in Figures 10 and 11.

Figures 10 and 11 illustrate in detail the grip movement of a pallet 22, after introducing the forks 42 in the opening 49 of the pallet 22 (Figure 10), being each of said forks 42 rotated by cylinders 46 inside of the same opening 49 (Figure 11), so that they fix the pallet 22 exerting a pressure between surfaces 44 and 45.

Each fork 42 of pliers 40 is driven by a pneumatic cylinder 46 in which two detector detectors are provided limit switches (not illustrated in Figure); a first detector signals that the idle position has been reached, while a second limit switch detector signals that a maximum rotation position has been reached due to a maximum expansion of cylinder 46; said maximum expansion position can only be reached for particular breaks of pallet 22, that is, when surfaces 44, 45 of pallet 22, if subjected at a divergent pressure, they separate from each other, thus avoiding a proper fixing.

At the end of each fork 42 is provided a 48A re-introduction mechanical plotter, which it is provided with elasticity thanks to element 48B; a crash in the plotter 48A, during a horizontal movement of introduction of the forks 42 in the opening 49, causes the decoupling of a proximity sensor, indicated with numerical reference 50 in the Figure 3 and attached to the opposite end of plotter 48A.

Rollers 48 are movable in one direction. vertical and have two possible positions, high and low, respectively, in correspondence with the operational positions of pliers 40, illustrated in Figures 10 and 9; in the high position (Figure 10), each roller 48 is fully reintroduced into the zone bottom of the frame 41 of the pliers 40 and thus is in a resting position.

In the low position (Figure 9), each roller 48 protrudes approximately 200 mm from the bottom surface of the tweezers 40 and is used for checking operations of surface and to determine the level.

Each roller 48 is driven by a cylinder 48D tire, in which two devices are arranged electronic limit switch detectors, indicated by schematic form with numerical reference 47 and provided, in particular, in the high and low positions, respectively.

On the drive pin of one of the two rollers, a photocell (not illustrated) that moves from integral shape with roller 48; the photocell, with reflection Direct and with an approximate range of action of 400 mm, it is in horizontal arrangement, so that the direction of the light beam is orthogonal to the movement of the rollers 48.

The photocell is provided for reasons of security, since when an operation is performed to determine the level, if one of the tables or boards 51 is missing (which was selected for the test) of which each pallet 22 consists, the rollers 48 follow their run on the lower side of the upper surface 44 of pallet 22, thus capturing the beam of the photocell and generating a signal that interrupts the action in course.

In the proximity of the lower surface of the frame 41 of the clamps 40, between the two rollers 48, is fixed a second photocell (not illustrated) that, presenting a reflection Direct and with an approximate range of action of 200 mm, it is arranged vertically, so that the beam of light is directed down; said photocell is used to determine the orientation of the tables 51 of the upper surface 44 of the pallet 22

As an alternative to tweezers 40, it is possible use pliers 40A, illustrated in detail in Figures 4 to 6, whose structural characteristics are substantially similar to those presented by tweezers 40; in particular, the elements of the 40A clamps that have the same function as those belonging to the tweezers 40 have been identified with the same references Numerical

In addition, from the attached drawings, it turns out The function of this type of tweezers is evident. They allow to block the pallet 22, by means of a translation movement of the element longitudinal 60, which in its working position is actuated and forces move out thanks to the movement of the supports 61, pivoted at fixed points, indicated by numerical reference 62, of a movement actuator cylinder 63. The forks 42 are insert in the opening 49 in the pallets 22 with the element retracted 60 (Figure 5); in this case, blocking and manipulation of the same pallets 22 is produced thanks to the pressure exerted by element 60, protruding from the fork frame 42 in an active working position (Figure 6), which presses against one of the surfaces 44, 45 (upper or lower) of the pallet 22, inside the opening 49.

System operation to check Pallets, according to the present invention, is substantially as follow:

First, the sequence operations of control include the blocking of pallet 22, which is thus aligned with respect to fixed hitters by means of a pusher special tire 26.

The manipulator 21 can also be used to determine the height of pallet 22 to be checked, in this case, the robot 21 is arranged so that the rollers 48 of the pliers 40, 40A are arranged in the vertical of each table 51 of the upper surface 44 of the pallet 22; said movement of arrangement is properly done by the control device system electronics, based on size, geometry and type from pallet 22.

The rollers 48 move to a low position (Figure 9) and then the pressure is purged inside the 48D cylinder, which displaces them, thus allowing them to slide upward freely.

Since the robot 21 starts a movement descending, at a certain point at least one of the rollers 48 meets the upper surface 44 of one of the tables 51 from pallet 22 selected for the test.

While the robot 21 continues its movement descending, guides and 48D cylinder pin, which support the roller 48, slide up in relation to its support, thus decoupling the position limiter switch detector lower 47 of roller 48.

After the signal state change from the limit switch detectors 47 of the rollers 48, manipulator 21 interrupts its downward movement and, depending on the position reached, calculate the actual height of the pallet 22 or preferably, the level of its upper surface 44. To determine the orientation of the surface tables 51 upper 44 of the pallet 22, the robot 21 is arranged in such a way that the vertically oriented photocell is on the vertical of the theoretical position of one of the tables 51 of the upper surface 44 of pallet 22, properly selected on the basis of type of pallet 22, so that the light beam of the photocell is practically busy

The robot 21 moves horizontally in parallel to the address of the selected table 51 (as illustrated in Figure 7), at a distance that depends on pallet 22 and which is equal to a fraction of the total length of table 51. Yes Table 51 of pallet 22, under test, is oriented in parallel to the direction of movement, as illustrated in Figure 7, the photocell light beam remains applied while Make the move.

If, on the contrary, tables 51 of the upper surface 44 of pallet 22 are oriented orthogonal to the direction of movement (as illustrated in Figure 8), during the movement the light beam of the photocell is decoupled due to the separation 53 present between the tables 51.

Based on whether or not the decoupling the light beam from the photocell, the robot 21 can determine the orientation of the checked table 51; the test of control is usually repeated a second time and, in the case of results Incoherent, repeated a third time for confirmation.

For the check operation of the integrity of one side of the pallet 22, the rollers 48 of the clamps 40, 40A are brought to a low position and the pressure is maintained inside the 48D cylinder, which moves them (Figure 9).

The robot 21 is arranged so that the rollers 48 are in the vertical of the theoretical position of the outer edge of one or two tables 51 of the upper surface 44 of the pallet 22 that is will check, orienting the tweezers 40, 40A so that the direction of travel of the rollers 48 is parallel to the tables 51.

Next, the robot 21 moves towards below depositing rollers 48 in tables 51 and compressing the 48D cylinders that drive them, so that the low position limit switch detectors 47 (position illustrated in detail in Figure 9).

Robot 21 moves in a horizontal direction parallel to the direction of the selected tables 51, so that the opposite end of said tables 51 be reached; yes in any point, the integrity of a table 51 subject to the checking, of a transverse element, of a block or of a underlying laminated joist, during the downward movement of the clamps 40, 40A, said table 51 does not resist the pressure exerted by roller 48 (adjustable depending on the type of pallet 22) which, Meanwhile, it has shifted to the low position, incorporating, again, the limit switch detector of low position 47.

The presence of protruding bodies or nails of table 51 produces the new coupling of the detector high position limit switch 47.

On the basis of whether or not it occurs from the new coupling of the limit switch detector 47, the robot 21 determine the integrity, or not, of table 51; the cycle of check is repeated for all tables 51 of pallet 22.

In addition, the system according to the invention allows the programming, at a peripheral management level, the definition of critical tables of pallet 22, whose lack of integrity must imply the immediate classification of pallet 22 as "broken" and of this mode, be rejected and non-critical tables, for which it is possible to set a maximum allowable number of tables not integrals on each side, which when exceeded makes pallet 22 Be considered rejected.

For tilt operation of pallet 22, the robot 21 grabs pallet 22 by means of raised clamps 40, 40A, by driving the mechanical plotters 48A at the ends of the Forks 42 to determine shocks caused by elements bulky anomalies present in opening 49, between the two surfaces 44, 45 of pallet 22. Next, the robot 21 lifts pallet 22 from a centering area, rotates it on one side and deposits looking up at a certain distance from the Fixed knockers used for blocking.

At the end of the checking operations, the robot 21 picks up pallet 22 and deposits it in an established destination according to the test result.

The destination can be a fixed plane, such as the surface of a motorized roller transport device 31, at the exit of station 20, or an element of varying height, such as a stack of pallets 27; in the latter case, before deposit pallet 22, the level of the support surface is determined using 48A plotter devices in a way similar to the control stage at the height of pallet 22.

Finally, the control and inspection station Automated 20, in the described configuration, in addition to the checking operations, you can perform any other operation for handling pallets 22 between any combination of fixed surfaces and pallet stacks 27, performing the functions typical of stackers and stackers present in traditional control systems and eliminating the need for provide special transport ducts and deviations from bulky and complex joints.

With special reference to the system of the Figure 2, which illustrates an embodiment by way of non-limiting example, of an automated checking system according to this invention, it is possible to observe, in particular, a first device motorized roller input transport 24, a first tank 27, where the proven pallets are stacked from position 26, a second tank 28 where the pallets are stacked to be rejected, a third deposit 29, where the "new" customer pallets, a fourth deposit 30, where check the pallets from position 29 and a second motorized roller exit transport device 31, which receives pallets from positions 26, 27, 30.

The system has two operating modes different: in the first case, at input 24 and at exit 31 there are pallets 22 of the same type and tank 29 is used as a unit of storage to compensate for rejected pallets coming from input transport device 24 without interrupting the supply of the output transport device 31. As alternative, of the input transport device 24 and the Outbound transport device 31 operate with pallets of different types and in this case, pallet 22 from input transport device 24 is stacked in the tank 27 unchecked, while pallets 22 from the tank 29 are used to power the transport device output 31.

In particular, the operating cycle performed by tongs 40, 40A for grip and pallet check 22 It consists of the following stages.

Pallet 22 arrives at the transport device of input 24 to the fixed stop and at this point, a pneumatic side device 26, which laterally pushes the pallet 22 with a knocker parallel to the direction of entry, blocking it; then the tweezers 40, 40A move to the position to check the height of the pallets 22, moving the two tracer rollers 48 down for the coupling of the limit switches 47 of tracer roller descent 48 and then, robot 21 descends on pallet 22 until release the limit switch detectors 47 lowering tracer rollers 48.

Then the tweezers 40, 40A perform two or three horizontal movements of an approximate length of 400 mm, parallel or in orthogonal directions, to recognize the direction of tables 51 and then plot table 51 with horizontal movements in a length equal to the length of the tables 51; if at least one of the two switch detectors 48D tracer cylinder lowering limiter 47 signals a high logic level, pallet 22 is rejected and therefore stacked in deposit 28.

Otherwise, the robot 21 controls the movement of the forks 42 in the opening 49 of the pallet 22, so that the rotate an angle of 180º and repeat the check of the tables lower, with a parallel movement with respect to the direction of the tables 51.

If after these checks, pallet 22 it is "good" and the transport device 31 is free, the manipulator 21 disposes the pallet on said device; yes for him on the contrary, the transport device 31 is busy, the robot 21 arrange the "good" pallet in tank 27.

The steps for depositing the pallet 22 in the stacks 27 or 28 are carried out by means of the two tracer rollers 48, which move towards
down.

The robot 21 is arranged so that the rollers tracers 48 move forward by about 100 mm over the stack and from the top; then the tweezers 40, 40A move downwards to release the detectors from descent limiter switch 47, so that they store the exact position of the top of the pallet stack and then it retract by a distance of 100 mm and deposit pallet 22.

In this way, it is possible to always know the exact level of the battery and of course, after each stop, the deposit is always made from the maximum height, with a descent slow.

The stages of checking and inspection before described, are performed by the system according to the present invention, starting also from the tank 29, in which the pallet stack 22 is normally arranged by the client.

In this case, the clamps 40, 40A proceed to pick up a pallet 22 each time and deposit it in deposit 30. The centering cylinder moves the pallet 22 against the corner of the deposit 30 and keeps it at rest while reading the measurements.

Next, the pliers 40, 40A move to the position to check the height of pallet 22 and the two rollers plotters 48 move down, thereby coupling the descent limit switches 47, and the robot 21 moves down on pallet 22, to release the detectors from limit switch 47 for lowering the rollers 48.

Next, the tweezers 40 perform horizontal movements in parallel or orthogonal directions to recognize the address of tables 51 and thus the checks of tables 51 are performed on surface 44 e bottom 45 of pallet 22. If pallet 22 is found to be "good" and the outgoing transport device 31 is free, the robot 21 disposes it on said transport device 31 and of not being like that, it is put on hold; if pallet 22 is to be rejected, it available in deposit 28, where the deposit stage of the pallet 22 in the manner described above.

The features of the automated system of pallet checking, object of the present invention, as well as its advantages are evident from the description previous.

Finally, it is clear that you can make several variants for the checking system automated, according to the claims, and the materials, shapes and Sizes of the illustrated details can be replaced by others, equivalent from a technical point of view.

Claims (11)

1. Automated system for checking pallets (22) of the type comprising at least one input device (24) and at least one output device (31), provided with at least one automated station (20), in the that after proper programming, a series of steps are performed to check the structural integrity of the pallets (22) in each type of pallet (22), and operations for handling said pallets (22), said automated station comprising (20) at least one manipulator or robot (21) that performs said manipulation and checking operations on said pallets (22), characterized in that said manipulator has at least one pair of test clamps (40, 40A) comprising a frame (41) to which are fixed by at least two forks (42) and at least one tracer roller (48), said forks (42) being used to block and manipulate said pallets (22) and using said rollers (48) to operations surface check and to determine the level of each pallet (22) thanks to the action of at least one pneumatic cylinder (48D) in which a series of electronic limit switch detecting devices (47) are arranged. 2. Automated system according to claim 1, characterized in that to perform said operations in a sequence, it comprises at least some means for blocking the pallet (22), means for determining the height of the pallets (22) that are they will check, means for determining the orientation of the boards (51) of at least one surface (44) of the pallets (22), means for checking the integrity of the boards (51) on each side of the pallets (22), means for unlocking the pallet (22), means for tilting the pallet (22), means for collecting and storing pallets (22) in a place that depends on the result of said operations of inspection and verification. 3. Automated system according to claim 1, characterized in that said manipulator (21) performs, in a cyclic manner, a predetermined work program and a function of fixed variables. 4. Automated system according to claim 1, characterized in that said clamps (40) allow the pallet (22) to be blocked by a rotation movement of the forks (42) within an opening (49) provided between the upper surfaces (44) and bottom (45) of the pallet (22). 5. Automated system according to claim 1, characterized in that said clamps (40A) allow blocking of the pallet (22) by means of a translation movement of at least one element (60) that can be driven outwardly of said forks (42), which it allows the blocking and manipulation of the pallets (22) thanks to the pressure exerted by said element (60) within at least one of the upper (44) and lower (45) surfaces of said pallet (22). 6. Automated system according to claim 1, characterized in that said clamps (40, 40A) allowing movement of the pallets (22) on devices transport roller (31) or batteries (27 to 29) of pallets (22) . 7. Automated system according to claim 1, characterized in that said station (20) comprises at least a first motor driven roller transport device (24) that introduces the pallets (22) into the system, a first tank (27) wherein said manipulator (21) stacks the checked pallets (22) that arrive from said first transport device (24), a second tank (28) in which said manipulator (21) stacks the pallets (22) that must be rejected, a third deposit (29), in which said manipulator (21) loads the customer's pallets (22), a fourth deposit (30), in which said manipulator (21) checks the pallets (22) arriving from said third tank (29), and a second motor driven transport device (31) receiving the pallets (22) from said first transport device from the first tank and from said fourth tank (30). 8. Automated system according to claim 1, characterized in that at the end of each fork (42) an elastic reintroduction mechanical plotter (48A) is arranged, causing said plotter (48A), during a horizontal movement of introduction of said forks (42 ) within the opening (49), the decoupling of a proximity sensor fixed to an opposite end of said plotter (48A). 9. Automated system according to claim 1, characterized in that said rollers (48) are movable in a vertical direction, and have two possible positions, high and low, corresponding respectively to the operating positions of said pliers (40), in which , in the high position, each roller (48), being in the rest position, is fully reintroduced in the lower area of said frame (41) of the pliers (40) and in the low position, each roller (48) protrudes from a lower surface of said clamps (40), and is used for surface checking operations and to determine the
level. 10. Automated system according to claim 1, characterized in that, in a drive pin of one of the two rollers (48), a photocell that is integrally displaced with said roller (48) is fixed, said photocell being arranged horizontally, such that the direction of the light beam is orthogonal to the movement of said rollers (48). 11. Automated system according to claim 1, characterized in that in the vicinity of the lower surface of said frame (41) of the clamps (40) between the two rollers (48), a second photocell is fixed which is arranged vertically, so that the light beam is directed downwards, said photocell being used to determine the orientation of the boards (51) of an upper surface (44) of the pallet (22).